CN104741861B - The multi-functional handgrip of a kind of robot - Google Patents
The multi-functional handgrip of a kind of robot Download PDFInfo
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- CN104741861B CN104741861B CN201510158936.1A CN201510158936A CN104741861B CN 104741861 B CN104741861 B CN 104741861B CN 201510158936 A CN201510158936 A CN 201510158936A CN 104741861 B CN104741861 B CN 104741861B
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- hold
- crossbeam
- supporting seat
- slide rail
- clamp mechanism
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Abstract
The present invention relates to the multi-functional handgrip of a kind of robot, comprise the frame structure being formed by crossbeam and longeron and be arranged on and fix to clamp mechanism one and mobile clamp mechanism two in frame structure, three, four, fix to clamp mechanism one and comprise the first hold-down mechanism and connection bracket, mobile clamp mechanism two comprises transverse positioning mechanism and the second hold-down mechanism, mobile clamp mechanism three comprises vertical location device and the 3rd hold-down mechanism, mobile clamp mechanism four comprises detent mechanism and the 4th hold-down mechanism, hold-down mechanism comprise compression cylinder and and clamping arm, compression cylinder is fixed on supporting seat, middle part and the supporting seat of clamping arm are hinged, the free end of clamping arm is provided with briquetting, the upper end of supporting seat is provided with the locating piece matching with briquetting. the evolution of detent mechanism of the present invention adopts electric cylinder, to Workpiece clamping accurate positioning, ensures the welding quality of workpiece, and production efficiency is high, can meet multi-vehicle-type Production requirement, saves equipment investment cost.
Description
Technical field
The present invention relates to the multi-functional handgrip of a kind of robot, belong to weld car production technical field.
Background technology
Conventional robot gripper carries out while production mainly for weld car transporting after Workpiece clamping, weldingDeng. There is following defect in current this robot gripper: 1, robot gripper is generally only applicable to oneOr two kinds of similar vehicles, flexible poor; 2, produce for meeting multi-vehicle-type, need to produce multiple handgrips, becomeThis increase; 3, number of devices is many, takes up room large; 4, frequently exchange device more of machine, productive temp increasesAdd, not only reduce production efficiency, and can affect product in-placing precision, thus the quality of impact welding.
Along with the raising of flexibility system, the utilization of unmanned automatic production line is more and more general, for meetingHigh automation production line needs, and reduces cost of investment simultaneously, designs a adaptation multi-vehicle-type transhipment, weldingMulti-function robot handgrip be technical problem urgently to be resolved hurrily in weld car production process.
Summary of the invention
The present invention is directed to the deficiency that above-mentioned prior art exists, a kind of compact conformation is provided, easy to operate,Clamp the fast multi-functional handgrip of robot accurately.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: the multi-functional handgrip of a kind of robot,Comprise form that two of frame structure be arranged in parallel first, two and two, crossbeam be arranged in parallel first,Longeron two, described longeron vertical support is between crossbeam, and described crossbeam one one end is provided with and fixes to clamp mechanismOne, the other end is provided with mobile clamp mechanism two, described in fix to clamp mechanism one comprise the first hold-down mechanism andThe first connection bracket, described mobile clamp mechanism two comprises transverse positioning mechanism and is supported on located lateral machineThe second hold-down mechanism on structure, described crossbeam two one end are provided with mobile clamp mechanism three, and the other end is provided with and movesMoving clamp mechanism four, described mobile clamp mechanism three comprises vertical location device and passes through the second connection bracketThe 3rd hold-down mechanism being connected with vertical location device, described mobile clamp mechanism four comprise detent mechanism andBe arranged on the 4th hold-down mechanism on detent mechanism;
Described hold-down mechanism comprises compression cylinder and the clamping arm with the piston hinge of compression cylinder, described pressureTight cylinder is fixed on supporting seat, and middle part and the supporting seat of described clamping arm are hinged, the free end of clamping armBe provided with briquetting, the upper end of described supporting seat is provided with the locating piece matching with briquetting;
Described transverse positioning mechanism comprise the X that is arranged on crossbeam one to slide rail one, can described X toThe X sliding on slide rail one is to slide block one and be fixed on the electric cylinder one on described crossbeam one, described electric cylinder onePiston is fixedly connected with to slide block one with described X, described X to slide block one by connection bracket one with described inThe supporting seat of the second hold-down mechanism connects;
Described vertical location device comprise perpendicular to the Z-direction slide rail two of described crossbeam two, can be in described Z-directionThe Z-direction slide block two of slide rail two upper and lower slips and the electric cylinder two being fixedly connected with Z-direction slide rail two, described ZBe fixed on the supporting seat of described the 3rd hold-down mechanism the piston of described electric cylinder two and described to slide block twoThe supporting seat of three hold-down mechanisms is fixedly connected with;
Described detent mechanism comprise the X being arranged on crossbeam two to slide rail three, be arranged on the electricity on longeron oneCylinder three, along described X to slide rail three horizontal directions slide X to slide block three, be arranged on described X to cunningZ-direction slide rail four on piece three, along the Z-direction slide block four of described Z-direction slide rail four upper and lower slips and fixingAt the electric cylinder four of Z-direction slide rail four bottoms, the piston of described electric cylinder three is fixedly connected with to slide block three with described X,Described Z-direction slide block four is fixed on the supporting seat of the 4th hold-down mechanism, the piston of described electric cylinder four and the 4thThe lower end of the supporting seat of hold-down mechanism is fixedly connected with.
Between described crossbeam one and longeron one, be provided with reinforcement.
Between described crossbeam two and longeron two, be provided with reinforcement.
Also comprise control system, described control system is for controlling the action of electric cylinder and compression cylinder.
The invention has the beneficial effects as follows: frame structure has ensured the stability of clamp mechanism, also guarantee that this grabsHand entirety footprint area is little, fixes to clamp on one end that mechanism is arranged on crossbeam one mobile clamp mechanism peaceBe contained in other three orientation of frame structure, and mobile clamp mechanism can be respectively by electric cylinder separately at horizontal strokeTo, vertical or horizontal and longitudinally raise the position stroke of whole hold-down mechanism, to adapt to the clamping of different automobile typesDemand, realizes multi-vehicle-type Production requirement fast, without increasing the equipment such as handgrip, and at vehicle Renewal processIn, the slippage under control system control of electric cylinder is accurate, puts in place accurately, and precision is high, and in a word, the present invention is fixedThe evolution of position mechanism adopts electric cylinder, to Workpiece clamping accurate positioning, ensures the welding quality of workpiece,Production efficiency is high, can meet multi-vehicle-type Production requirement, saves equipment investment cost.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
In figure, 1, fix to clamp mechanism one; 2, mobile clamp mechanism two; 21, electric cylinder one; 22,X is to slide rail one; 23, X is to slide block one; 24, connection bracket one; 3, mobile clamp mechanism three; 31,Z-direction slide rail two; 32, electric cylinder two; 33, Z-direction slide block two; 4, mobile clamp mechanism four; 41, XTo slide rail three; 42, X is to slide block three; 43, electric cylinder three; 44, Z-direction slide rail four; 45, Z-direction slide blockFour; 46, electric cylinder four; 5, compression cylinder; 6, clamping arm; 7, supporting seat; 8, briquetting; 9, fixedPosition piece; 10, the first connection bracket; 11, crossbeam one; 12, longeron two; 13, crossbeam two; 14,Longeron one; 15, reinforcement.
Detailed description of the invention
Below in conjunction with accompanying drawing, principle of the present invention and feature are described, example is only for explaining thisInvention, is not intended to limit scope of the present invention.
As shown in Figure 1, the multi-functional handgrip of a kind of robot, comprises that two of formation frame structure are parallelThe crossbeam 1, crossbeam 2 13 arranging and two longerons that be arranged in parallel 1, longeron 2 12, instituteState longeron vertical support between crossbeam, one end of described crossbeam 1 is provided with and fixes to clamp mechanism 1,The other end is provided with mobile clamp mechanism 22, described in fix to clamp mechanism 1 comprise the first hold-down mechanism andThe first connection bracket 10, described mobile clamp mechanism 22 comprises transverse positioning mechanism and is supported on laterallyThe second hold-down mechanism on detent mechanism, one end of described crossbeam 2 13 is provided with mobile clamp mechanism 33,The other end is provided with mobile clamp mechanism 44, described mobile clamp mechanism 33 comprise vertical location device andThe 3rd hold-down mechanism being connected with vertical location device by the second connection bracket, described mobile clamp mechanism44 comprise detent mechanism and are arranged on the 4th hold-down mechanism on detent mechanism;
Described hold-down mechanism comprises compression cylinder 5 and the clamping arm 6 with the piston hinge of compression cylinder, instituteState compression cylinder 5 and be fixed on supporting seat 7, the middle part of described clamping arm 6 and supporting seat 7 are hinged, pressThe free end of tight arm 6 is provided with briquetting 8, and the upper end of described supporting seat 7 is provided with the location of matching with briquettingPiece 9;
Described transverse positioning mechanism comprises that the X being arranged on crossbeam 1 is to slide rail 1, at described XTo the X sliding on slide rail 1 to slide block 1 and be fixed on the electric cylinder 1 on described crossbeam one,The piston of described electric cylinder 1 is fixedly connected with to slide block 1 with described X, and described X is to slide block 1Be connected with the supporting seat of described the second hold-down mechanism by connection bracket 1;
Described vertical location device comprises perpendicular to the Z-direction slide rail 2 31 of described crossbeam 2 13, describedThe Z-direction slide block 2 33 of Z-direction slide rail 2 31 upper and lower slips and be fixedly connected with Z-direction slide rail 2 31Electricity cylinder 2 32, described Z-direction slide block 2 33 is fixed on the supporting seat of described the 3rd hold-down mechanism, described inThe piston of electricity cylinder 2 32 is fixedly connected with the supporting seat of described the 3rd hold-down mechanism;
Described detent mechanism comprise the X being arranged on crossbeam 2 13 to slide rail 3 41, be arranged on longeron oneOn electric cylinder 3 43, along described X to slide rail three horizontal directions slide X to slide block 3 42, be arranged onDescribed X is to the Z-direction slide rail 4 44 on slide block 3 42, along the Z of described Z-direction slide rail four upper and lower slipsTo slide block 4 45 and be fixed on the electric cylinder 4 46 of Z-direction slide rail four bottoms, the piston of described electric cylinder 3 43Be fixedly connected with to slide block 3 42 with described X, described Z-direction slide block 4 45 is fixed on the 4th hold-down mechanismSupporting seat on, the lower end of the supporting seat of the piston of described electric cylinder 4 46 and the 4th hold-down mechanism is fixing to be connectedConnect.
Between described crossbeam 1 and longeron 1, be provided with reinforcement 15.
Between described crossbeam 2 13 and longeron 2 12, be provided with reinforcement 15.
Also comprise control system, described control system is for controlling the action of electric cylinder and compression cylinder.
The course of work of the present invention: as different automobile types workpiece is transported to another position, head from a positionFirst the signal instruction of corresponding vehicle information is conveyed to robot, robot receives corresponding vehicle signal,Then the control system of multi-functional handgrip moves clamping machine according to the signal controlling of the corresponding vehicle receivingIn structure two, three, four, second, third and the 4th hold-down mechanism are realized X to, Z under the electric cylinder effect of correspondenceTo and X to adjusting with Z-direction stroke, make four handgrips of robot corresponding correctly with vehicle to be transportedPosition, then robot carries handgrip and accurately locates grabbing workpiece to the location of workpiece one by four handgrips,Transfer workpiece to position two by robot, be then placed to assigned address, complete this by handgrip and transportedJourney. If vehicle changes, can adjust mobile clamp mechanism by control system according to corresponding vehicle signalElectric cylinder, realize mobile clamp mechanism horizontal, vertical or horizontal and longitudinally raise whole hold-down mechanism positionPut stroke, the action of control system control electricity cylinder and compression cylinder makes hold-down mechanism slippage accurate, puts in placeAccurately, precision is high, and captures accurately, and clamping efficiency is high, transports convenient and swift.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, not all in the present inventionSpirit and principle within, any amendment of doing, be equal to replacement, improvement etc., all should be included in thisWithin bright protection domain.
Claims (3)
1. the multi-functional handgrip of robot, is characterized in that, comprises two of formation frame structureTwo and two longerons that be arranged in parallel of crossbeam one, crossbeam, the longeron two that be arranged in parallel, described longeron hangs downDirectly be supported between crossbeam, one end of described crossbeam one is provided with and fixes to clamp mechanism one, and the other end is provided with and movesMoving clamp mechanism two, described in fix to clamp mechanism one and comprise the first hold-down mechanism and the first connection bracket, instituteStating mobile clamp mechanism two comprises transverse positioning mechanism and is supported on the compression of second on transverse positioning mechanismMechanism, one end of described crossbeam two is provided with mobile clamp mechanism three, and the other end is provided with mobile clamp mechanism four,Described mobile clamp mechanism three comprises vertical location device and passes through the second connection bracket and longitudinal register machineThe 3rd hold-down mechanism that structure connects, described mobile clamp mechanism four comprises detent mechanism and is arranged on localization machineThe 4th hold-down mechanism on structure;
Described hold-down mechanism comprises compression cylinder and the clamping arm with the piston hinge of compression cylinder, described pressureTight cylinder is fixed on supporting seat, and middle part and the supporting seat of described clamping arm are hinged, the free end of clamping armBe provided with briquetting, the upper end of described supporting seat is provided with the locating piece matching with briquetting;
Described transverse positioning mechanism comprise the X that is arranged on crossbeam one to slide rail one, can described X toThe X sliding on slide rail one is to slide block one and be fixed on the electric cylinder one on described crossbeam one, described electric cylinder onePiston is fixedly connected with to slide block one with described X, described X to slide block one by connection bracket one with described inThe supporting seat of the second hold-down mechanism connects;
Described vertical location device comprise perpendicular to the Z-direction slide rail two of described crossbeam two, can be in described Z-directionThe Z-direction slide block two of slide rail two upper and lower slips and the electric cylinder two being fixedly connected with Z-direction slide rail two, described ZBe fixed on the supporting seat of described the 3rd hold-down mechanism the piston of described electric cylinder two and described to slide block twoThe supporting seat of three hold-down mechanisms is fixedly connected with;
Described detent mechanism comprise the X being arranged on crossbeam two to slide rail three, be arranged on the electricity on longeron oneCylinder three, along described X to slide rail three horizontal directions slide X to slide block three, be arranged on described X to cunningZ-direction slide rail four on piece three, along the Z-direction slide block four of described Z-direction slide rail four upper and lower slips and fixingAt the electric cylinder four of Z-direction slide rail four bottoms, the piston of described electric cylinder three is fixedly connected with to slide block three with described X,Described Z-direction slide block four is fixed on the supporting seat of the 4th hold-down mechanism, the piston of described electric cylinder four and the 4thThe lower end of the supporting seat of hold-down mechanism is fixedly connected with.
2. the multi-functional handgrip of robot according to claim 1, is characterized in that, described horizontal strokeBetween beam one and longeron one, be provided with reinforcement.
3. the multi-functional handgrip of robot according to claim 1 and 2, is characterized in that, instituteState between crossbeam two and longeron two and be provided with reinforcement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158936.1A CN104741861B (en) | 2015-04-03 | 2015-04-03 | The multi-functional handgrip of a kind of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510158936.1A CN104741861B (en) | 2015-04-03 | 2015-04-03 | The multi-functional handgrip of a kind of robot |
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| CN104741861A CN104741861A (en) | 2015-07-01 |
| CN104741861B true CN104741861B (en) | 2016-05-04 |
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| CN201510158936.1A Active CN104741861B (en) | 2015-04-03 | 2015-04-03 | The multi-functional handgrip of a kind of robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105966908B (en) * | 2016-07-07 | 2019-05-31 | 大连爱渥特机器人科技有限公司 | A kind of eight-corner tube handgrip |
| CN107088731A (en) * | 2017-06-16 | 2017-08-25 | 常州机电职业技术学院 | Weldering trailing type frock is assisted by robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102010015357A1 (en) * | 2010-04-15 | 2011-10-20 | Förster GmbH | Mounting device for railing, comprises a linear guiding, a signaling device, and two retaining elements, which are movably guided against each other and detectable at a certain position |
| CN203045221U (en) * | 2012-12-28 | 2013-07-10 | 烟台宇信科技有限公司 | Flexible welding fixture |
| CN104097005B (en) * | 2014-07-04 | 2015-11-25 | 重庆格一机械制造有限公司 | The weld jig of automobile rear seat cushion steel-wire carcass |
| CN204148777U (en) * | 2014-10-09 | 2015-02-11 | 长春轨道客车装备有限责任公司 | Steel moald-cavity sleeper beam manipulator weld jig |
| CN204545810U (en) * | 2015-04-03 | 2015-08-12 | 烟台宇信科技有限公司 | The multi-functional handgrip of a kind of robot |
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